/*
 * @Description: loop_pose类，time+index0+index1+pose
 * @Author: Sang Hao
 * @Date: 2021-09-27 14:15:00
 * @LastEditTime: 2021-10-27 13:31:13
 * @LastEditors: Sang Hao
 */
#ifndef LIDAR_SLAM_SENSOR_DATA_LOOP_POSE_HPP_
#define LIDAR_SLAM_SENSOR_DATA_LOOP_POSE_HPP_

#include <Eigen/Dense>

namespace lidar_slam {
class LoopPose {
public:
	double time = 0.0;
	unsigned int index0 = 0;
	unsigned int index1 = 0;
	Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
public:
	Eigen::Quaternionf GetQuaternion();
};

}


#endif